TWI788168B - Article transportation device - Google Patents

Abstract

An article transportation device is provided, including: a main body, a transportation unit and a loading unit: the loading unit including a loading portion, a moving member and a driving unit, the loading portion disposed between an inlet opening of the main body and the transportation unit, an outlet portion of the loading portion having an outlet opening communicated with the transportation unit and the inlet opening, the outlet opening defined an opening direction, the moving member disposed on the loading portion, the driving unit is co-movably connected with the moving member so as to selectively move the moving member relative to the loading portion between the first position and a second position along a first direction between and to move at least one article which is disposed on the loading portion, the first direction being transverse to the opening direction.

Description

Item Transporter

The present invention relates to the transportation of articles, and more particularly to an article transportation device.

Usually returning books in the library needs to rely on staff to carry out at the counter. This method also needs to contact the service personnel when returning the book; moreover, the counter staff also needs to manually place the book body on the cart, and then push the cart to carry the book body to the corresponding bookshelf. Not only is it labor-intensive, but it also takes a lot of time to put the whole book on the trolley, resulting in high labor and time costs.

Therefore, it is necessary to provide a novel and progressive article transportation device to solve the above-mentioned problems.

The main purpose of the present invention is to provide an article transportation device, which provides a shifting part that can drive at least one article to switch the moving path of the at least one article.

In order to achieve the above object, the present invention provides an article transportation device, comprising: a body, which includes an accommodating space and an inlet connected to the accommodating space; a conveying unit, which is arranged in the accommodating space; A unit, which includes a bearing part, a toggle piece and a driving unit, the bearing part is arranged between the input port and the conveying unit, the bearing part includes an inlet end and a The outlet end of the part, the inlet end is close to the inlet, the outlet end is close to the conveying unit, the bearing part has a discharge port connecting the conveying unit and the inlet at the outlet end, and the discharge port defines In an opening direction, the toggle member is arranged on the bearing part, and the driving unit is linked with the toggle member to selectively drive the toggle member to a first position and a second position relative to the bearing part along a first direction The first direction is transverse to the opening direction; a driving mechanism includes at least one driving wheel, and the at least one driving wheel is arranged on the body; wherein, the The toggle part includes a pivot part and a toggle part connected to the pivot part, the carrying part is provided with a top end surface for placing the at least one article, and the pivot part of the toggle part is pivoted. Connected to the bearing part, the toggle part of the toggle is set on the top surface and swings on the top surface with the pivot joint as the center of rotation; wherein, the toggle part is provided with a connecting part, and the connection part and the pivoting part are arranged at intervals, the driving unit is connected to the connecting part and is transverse to the toggle part and the pivoting part; wherein, the carrying unit further includes a driving part, which is arranged on the body, and the The bearing part is pivotally connected to the body, and the driving member can drive the bearing part to swing relative to the body and the conveying unit with a pivot; wherein, the bearing part includes a bottom end surface, and the bottom end surface and the top end surface are located on the bearing part The opposite two sides; wherein, the driving member includes a telescopic rod, one end of the telescopic rod is arranged on the body, and the other end of the telescopic rod is arranged transversely on the bottom surface of the bearing part.

1: Ontology

10: Read unit

11:Accommodating space

12: input port

13: First side

14: Second side

16: Undertaking area

18: limit box

19: base

2: Delivery unit

20: Printing unit

21: Carrying section

22: Placement area

3: Bearing unit

31: Carrying part

311: outlet

312: top surface

313: pivot

314: Bottom face

32: Toggle

321: pivot joint

322: Toggle part

323: connecting rod

324: channel

325: connecting rod

326: connection part

33: Drive unit

34:Entry end

35: Outlet end

4: Items

40: Weight sensing unit

41: Identification label

5: Detection and control module

51: Detection unit

52: Control unit

6: Driver

61: telescopic rod

7: Connection table

8: Sensor

9: Driving mechanism

91: Drive wheel

92: Drive device

93: Rod

94: guide wheel

A: Open direction

L1: the first direction

L2: the second direction

H1: height direction

Fig. 1 is a perspective view of a preferred embodiment of the present invention.

Fig. 2 is an exploded view of a preferred embodiment of the present invention.

Fig. 3 is a perspective view of the internal structure of a preferred embodiment of the present invention.

Fig. 3A is an enlarged view of a preferred embodiment of the present invention.

Fig. 4 is a schematic diagram of a bearing part in an initial position according to a preferred embodiment of the present invention.

Fig. 5 is a schematic diagram of a bearing part in a tilted position according to a preferred embodiment of the present invention.

Fig. 6 is a schematic diagram of a fully loaded bearing part of a preferred embodiment of the present invention.

FIG. 6A is a partially enlarged view of FIG. 6 .

Fig. 7 is a schematic diagram of a toggle member driving an object in a preferred embodiment of the present invention.

Fig. 8 is a perspective view of a use state of a preferred embodiment of the present invention.

FIG. 9 is a block diagram of a preferred embodiment of the present invention.

The following examples illustrate possible implementations of the present invention, but are not intended to limit the scope of protection of the present invention.

Please refer to FIGS. 1 to 9 and FIG. 3A , which show a preferred embodiment of the present invention. The article transportation device of the present invention includes a body 1 , a conveying unit 2 and a carrying unit 3 .

The main body 1 includes an accommodating space 11 and an input port 12 connected to the accommodating space 11; the conveying unit 2 is arranged in the accommodating space 11; the carrying unit 3 includes a carrying portion 31 and a toggle member 32 And a drive unit 33, the bearing part 31 is arranged between the input port 12 and the conveying unit 2, the bearing part 31 includes an inlet end 34 and an outlet end 35 opposite to the inlet end 34, the The inlet end 34 is close to the input port 12, the outlet end 35 is close to the conveying unit 2, and the carrying portion 31 has a discharge port 311 connected to the conveying unit 2 and the input port 12 at the outlet end 35. The outlet 311 defines an opening direction A, the toggle member 32 is disposed on the bearing portion 31, and the driving unit 33 is linked with the toggle member 32 to selectively drive the toggle member 32 to face the bearing portion along a first direction L1. 31 is movable between a first position and a second position for belt Move (such as dial) at least one item 4 placed on the carrying portion 31, the at least one item 4 can be a package, a book, a product or other items, and the first direction L1 is transverse to the opening direction A. Specifically, the body 1 includes a first side portion 13 and two second side portions 14 disposed on opposite sides, the first side portion 13 is connected between the two second side portions 14, and the first side portion part 13 and the two second side parts 14 constitute the accommodating space 11, the input port 12 is set on the first side part 13; A toggle part 322, the carrying part 31 is provided with a top end surface 312, the top end surface 312 is for placing the at least one article 4, the pivot joint part 321 of the toggle member 32 is pivotally connected to the carrying part 31, the dial The toggle portion 322 of the moving member 32 is arranged on the top end surface 312 and swings on the top end surface 312 between the first position and the second position with the pivot joint 321 as the center of rotation; When the moving member 32 is at the first position, the toggle portion 322 is close to one of the second side portions 14; when the toggle member 32 is at the second position, the toggle portion 322 is close to the other second side Section 14. Wherein, the toggle portion 322 is provided with a connecting portion 326, the connecting portion 326 is spaced apart from the pivot portion 321, the driving unit 33 is connected to the connecting portion 326 and is transverse to the toggle portion 322 and the pivot portion 321 . Accordingly, the at least one item 4 can be automatically driven to change the moving path of the at least one item, and when a large number of items need to be stored, a plurality of the items 4 can be sent to different positions of the conveying unit 2 respectively, thus having High storage capacity.

The article transportation device further includes a detection and control module 5, the detection and control module 5 includes a detection unit 51 and a control unit 52, the main body 1 defines a receiving area 16 located downstream of the discharge port 311, the conveying unit 2 define a carrying section 21 located in the receiving area 16, the carrying section 21 is used to receive the at least one article 4 sent out from the discharge port 311, the carrying section 21 includes at least two placement areas 22 along the first direction L1 ; Wherein, when the toggle member 32 is in the first position, the at least one item 4 on the carrying portion 31 passes through the discharge port 311 to one of the placement areas 22 on a first path; when the toggle When the moving part 32 is located at the second position, the at least one article 4 on the carrying portion 31 passes through the outlet 311 on a second path different from the first path To another placement area 22; wherein the detection unit 51 detects that each placement area 22 of the carrying section 21 is a fully loaded state of an article and generates a full load information, and the control unit 52 receives (with wired or wireless way) the full load of information controls the conveying unit 2 to drive the carrying section 21 away from the receiving area 16 in a second direction L2, the second direction L2 is transverse to the first direction L1; in this embodiment, the detection unit 51 is disposed on the body 1 and between the carrying portion 31 and the conveying unit 2, when the detection unit 51 detects the at least one item 4 placed in each of the placement areas 22 of the carrying section 21 The control unit 52 controls the conveying unit 2 to drive the carrying section 21 away from the receiving area 16 in the second direction L2; that is, the conveying unit 2 can take the fully loaded carrying section 21 away from the receiving area 16. , make the conveying unit 2 bring the section where the at least one article 4 is not placed to the receiving area 16, and continue to accept the at least one article 4, so as to increase the storage capacity. To further illustrate, the full-load state of the articles means that the height (or quantity) of placing a plurality of the articles 4 in each placement area 22 reaches a maximum height (or quantity).

The toggle member 32 includes two connected connecting rods 323 and a channel 324, the two connecting rods 323 are arranged at intervals and co-constitute the channel 324 with the bearing part 31 between them, and a connecting rod 323 is pivotally connected. The connecting rod 325, the channel 324 is for the passage of the at least one item 4, the channel 324 communicates with the input port 12 and the discharge port 311, and the two connecting rods 323 can be limited to the opposite two outer sides of the at least one item 4 to smoothly Drive the at least one item 4 located in the channel 324 to maintain a predetermined position to avoid excessive skewing of the at least one item 4 during the process. Wherein, the bearing part 31 includes a bottom surface 314 , the bottom surface 314 and the top surface 312 are located on two opposite sides of the bearing part 31 , and the connecting rod 325 leans against the bottom surface 314 of the bearing part 31 .

The carrying unit 3 further includes a driving part 6, the driving part 6 is arranged on the body 1, the conveying unit 2 and the carrying part 31 are arranged on a height direction H1, the first direction L1 is transverse to the height direction H1, The carrying portion 31 is arranged above the conveying unit 2 at intervals, the carrying portion 31 is pivotally connected to the body 1, and the driving member 6 can drive the carrying portion 31 relative to the body 1 and the conveying unit 2 with a pivot 313. The height direction H1 swings between an initial position and an inclined position; in this way, the degree of inclination of the carrying portion 31 can be automatically changed.

When the bearing part 31 is in the initial position, the bearing part 31 is slightly horizontal, so that the at least one item 4 placed on it is not easy to slide relative to the bearing part 31, and the toggle member 32 drives the at least one item 4 to After the first position or the second position, the carrying portion 31 swings to the inclined position, allowing the at least one item 4 to slide freely on the carrying portion 31 . Specifically, the control unit 52 is electrically connected to the driving unit 33 and the driving member 6, the control unit 52 drives the toggle member 32 to move to the first position or the second position, and then drives the driving member 6 Drive the bearing part 31 to move from the initial position to the inclined position. Wherein, the driving member 6 includes a telescopic rod 61 , one end of the telescopic rod 61 is disposed on the body 1 , and the other end of the telescopic rod 61 is disposed on the bottom surface 314 of the carrying portion 31 .

The article transportation device further includes a connecting platform 7, which is arranged between the carrying part 31 and the conveying unit 2, and the connecting platform 7 extends obliquely to the carrying part 31 and the conveying unit 2, and can be buffered by The speed of the at least one article 4 sliding down by the bearing part 31 and the angle and direction of guiding the at least one article 4 to fall on the conveying unit 2 achieve the effect of being stably placed on the conveying unit 2 .

The main body 1 further includes a limit frame 18, which is provided with the input port 12, and when the at least one article 4 is put into the input port 12, it can be limited within the range of the limit frame 18 and accurately fall on the on the bearing part 31.

The article transportation device in this case is an autonomous mobile robot (AMR, Autonomous Mobile Robot), which is a trackless transportation device with built-in automatic path planning, navigation and monitoring management systems. In addition, a plurality of sensors 8 can be provided on the article transportation device, and the obstacles in the environment can be detected by the plurality of sensors 8 to avoid obstacles automatically.

The article transportation device further includes a driving mechanism 9 , the driving mechanism 9 includes at least one driving wheel 91 , a driving device 92 , a rod 93 and a guide wheel 94 , and the at least one driving wheel 91 is arranged on the body 1 . Specifically, the body 1 further includes a base 19, a drive shaft of the drive device 92 and the at least one drive Wheels 91 are combined, the rod 93 is connected to the base 19, the guide wheel 94 is located at the end of the rod 93 away from the driving device 92; the delivery unit 2 is located between the base 19 and the bearing part 31 between; by the rotation of the drive shaft of the drive device 92, the drive wheel 91 can be driven to rotate and move independently. In addition, the rod 93 can swing relative to the base 19 respectively, and when the article transportation device is running on rough roads such as uphill (the maximum climbing angle is 12 degrees) or downhill, the guide wheel 94 and the driving force can be ensured. The wheels 91 are used to move smoothly to avoid the situation of overturning due to excessive vibration, so that the article transport device can be driven on rough roads, outdoor roads, and barrier-free slopes to improve comfort and stability.

The article transportation device further includes a reading unit 10 and a printing unit 20, the reading unit 10 is electrically connected to the printing unit 20, the reading unit 10 is arranged on the main body 1 and exposed outside the main body 1, the The printing unit 20 is arranged outside the body 1, and the reading unit 10 can read an identification label 41 (such as a barcode) of the at least one item 4 to read information corresponding to the item 4 (such as including a book title, Book return time, borrowing books and borrower information, etc.), the printing unit 20 receives the information and prints out a corresponding list receipt.

The detection and control module 5 further includes a weight sensing unit 40, the weight sensing unit 40 is arranged on the conveying unit 2, the conveying unit 2 can place a plurality of the objects 4, and the control unit 52 is electrically connected to the driving device 92 and the weight sensing unit 40, the control unit 52 defines a maximum load-bearing weight (such as more than 25 kilograms); wherein, the weight sensing unit 40 senses a total weight of the plurality of articles 4 placed on the conveying unit 2 And produce a weight data information, when the control unit 52 judges that the weight data information is greater than or equal to the maximum load-bearing weight (i.e. full load state), the driving device 92 is driven to advance according to a return path, and the load carried on the conveying unit 2 can be automatically detected. The total weight of the plurality of items 4, and automatically move to a predetermined position (such as a counter) when fully loaded.

In this embodiment, the driving member 6 , the driving device 92 and the driving unit 33 are respectively driving motors.

1: Ontology

12: input port

10: Read unit

20: Printing unit

8: Sensor

Claims (10)

An article transportation device, comprising: a body, including an accommodating space and an inlet connected to the accommodating space; a conveying unit, arranged in the accommodating space; and a carrying unit, including a carrying part, a dial A moving part and a drive unit, the bearing part is arranged between the input port and the conveying unit, the bearing part includes an inlet end and an outlet end opposite to the inlet end, the inlet end is close to the input The outlet end is close to the conveying unit, and the bearing part has a discharge port connecting the conveying unit and the input port at the outlet end, the discharge port defines an opening direction, and the toggle member is arranged on the bearing part The driving unit is linked with the toggle piece and can selectively drive the toggle piece to move between a first position and a second position relative to the bearing part along a first direction, so as to drive at least An article, the first direction is transverse to the opening direction; a driving mechanism includes at least one driving wheel, and the at least one driving wheel is arranged on the body; A toggle part of the toggle part, the bearing part is provided with a top end surface, the top end surface is for placing the at least one article, the pivot joint part of the toggle part is pivotally connected to the bearing part, the toggle part of the toggle The part is arranged on the top surface and swings on the top surface with the pivot part as the center of rotation; wherein, the toggle part is provided with a connecting part, which is spaced apart from the pivot part, and the drive unit is connected to The connection part is transverse to the toggle part and the pivot part; wherein, the bearing unit further includes a driving part, the driving part is arranged on the body, the bearing part is pivotally connected to the body, and the driving part can drive the The bearing part swings relative to the body and the conveying unit with a pivot; Wherein, the bearing part includes a bottom end surface, and the bottom end surface and the top end surface are located on two opposite sides of the bearing part; wherein, the driving part includes a telescopic telescopic rod, and one end of the telescopic rod is arranged on the body , the other end of the telescopic rod is arranged transversely on the bottom end surface of the carrying portion. The article transportation device as claimed in claim 1, wherein the body includes a first side portion and two second side portions disposed on opposite sides, the first side portion is connected between the two second side portions, the The first side part and the two second side parts constitute the accommodating space, and the input port is set on the first side part; center and swing between the first position and the second position on the top surface; wherein when the dial is at the first position, the dial is close to one of the second sides; when the dial When the moving part is at the second position, the toggle part is close to the other second side part. The article transportation device as described in claim 1, wherein the conveying unit and the carrying portion are arranged in a height direction, the first direction is transverse to the height direction, the carrying portion is spaced above the conveying unit, and the driving The component can drive the supporting part to swing between an initial position and an inclined position in the height direction relative to the body and the conveying unit via the pivot. The article transportation device as claimed in claim 1 further includes a connecting platform, the connecting platform is arranged between the carrying part and the conveying unit, and the connecting platform extends obliquely to the carrying part and the conveying unit. The item transportation device as claimed in claim 1, wherein the toggle member includes two connected connecting rods and a channel, the two connecting rods are arranged at intervals and form the channel between them, and the channel allows the at least one item to pass through, The channel communicates with the input port and the discharge port, and a connecting rod is pivotally connected between the two connecting rods; wherein, the connecting rod leans against the bottom surface of the bearing part. The article transportation device as described in any one of claims 1 to 5, further comprising a detection and control module, the detection and control module includes a detection unit and a control unit, and the main body defines a The receiving area, the conveying unit defines a bearing section located in the receiving area, and the bearing section is used for receiving the For the at least one item sent out by the outlet, the carrying section includes at least two placement areas along the first direction; wherein, when the toggle member is at the first position, the at least one item on the carrying portion is On a first path through the discharge port to one of the placement areas; when the toggle member is in the second position, the at least one item on the carrying portion is on a second path different from the first path. On the route, go through the discharge port to another storage area; wherein the detection unit detects that each storage area of the loading section is a full-loaded state of an item and generates a full-load information, and the control unit receives the full-load information and controls The conveying unit drives the carrying section away from the receiving area in a second direction, and the second direction is transverse to the first direction. The article transportation device as described in claim 6, wherein the detection unit is arranged on the body and between the carrying part and the conveying unit, when the detection unit detects that each of the positions placed on the carrying section When the at least one item is placed in the receiving area, the control unit controls the conveying unit to drive the carrying section away from the receiving area in the second direction. The article transportation device as described in claim 1, wherein the body further includes a base, the driving mechanism includes a driving device, a rod and a guide wheel, the driving device is combined with the at least one driving wheel, and the rod The component is assembled on the base, and the guide wheel is arranged at the end of the rod away from the driving device. The article transportation device as described in claim 8, further includes a detection and control module, the detection and control module includes a weight sensing unit and a control unit, the weight sensing unit is arranged on the conveying unit, and the conveying unit A plurality of items can be placed, the control unit is electrically connected to the driving device and the weight sensing unit, and the control unit defines a maximum load-bearing weight; wherein, the weight sensing unit senses the plurality of items placed on the conveying unit A total weight is used to generate a weight data information, and the control unit determines that the weight data information is greater than or equal to the maximum bearing weight to drive the driving device to travel along a return path. The article transportation device as described in claim 2, wherein the conveying unit and the carrying portion are arranged in a height direction, the first direction is transverse to the height direction, the carrying portion is spaced above the conveying unit, and the driving The component can drive the carrying part to swing relative to the main body and the conveying unit in the height direction between an initial position and an inclined position through the pivot shaft; Between the carrying part and the conveying unit, the connecting platform extends obliquely to the carrying part and the conveying unit; the toggle member includes two connected connecting rods and a channel, and the two connecting rods are arranged at intervals between them and the conveying unit. The carrying part co-constructs the channel, and the channel communicates with the input port and the discharge port; the body further includes a limit frame, and the limit frame is provided with the input port; the body further includes a base, and the driving mechanism includes a A driving device, a rod and a guide wheel, a driving shaft of the driving device is combined with the at least one driving wheel, the rod is assembled on the base, and the guide wheel is arranged on the rod away from the driving device One end; the conveying unit is arranged between the base and the bearing part; the article transportation device further includes a detection and control module, the detection and control module includes a detection unit and a control unit, and the body defines a In the downstream receiving area, the conveying unit defines a loading section located in the receiving area, the loading section is used to accept the at least one article sent out from the discharge port, and the loading section includes at least two placement areas along the first direction; Wherein, when the toggle member is at the first position, the at least one article on the carrying portion passes through the outlet to one of the placement areas on a first path; when the toggle member is at the second position, the at least one article on the carrying portion passes through the discharge port to another placement area on a second path different from the first path; wherein the detection unit detects each of the carrying sections The placement area generates a full load message for a full load of articles, the control unit receives the full load message and controls the conveying unit to drive the carrying section away from the receiving area in a second direction, the second direction is transverse to the first direction ; The detection unit is arranged on the body and is located between the carrying portion and the conveying unit, when the detection unit detects the at least one item placed in each of the placement areas of the carrying section, the control The unit controls the conveying unit to drive the carrying section away from the second direction The receiving area; the detection and control module includes a weight sensing unit, the weight sensing unit is arranged on the conveying unit, the conveying unit can be used to place a plurality of the objects, and the control unit is electrically connected to the driving device and the weight sensor A measuring unit, the control unit defines a maximum load-bearing weight; wherein, the weight sensing unit senses the total weight of one of the plurality of items placed on the conveying unit to generate a weight data information, and the control unit judges that the weight data information is greater than When it is equal to the maximum load-bearing weight, the drive device is driven to travel along a return path.

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